Paper on Soft Robot Locomotion accepted for publication in the International Journal of Nonlinear Mechanics

Together with Prof. Oliver O’Reilly and Xuance Zhou at UC Berkeley, we have applied an elastic rod theory to examine a novel mechanism for soft robot locomotion. As in inflatable and shape memory alloy-powered soft robots, the proposed mechanism exploits changes in the residual curvature of an elastic limb and the balance of adhesion- and friction-controlled tractions from the ground. This work was recently published in the International Journal of Nonlinear Mechanics. [link] [pdf]